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02 - Spatial Descriptions and Transformations PDF

The document discusses spatial descriptions and transformations including rotation matrices, inverse rotation matrices, describing frames of reference, and different types of angle descriptions like fixed angles, Euler angles, and rotation about an arbitrary axis. It provides notation and formulas for orthonormal matrices and Cayley's formula.

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sksiddique
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181 views28 pages

02 - Spatial Descriptions and Transformations PDF

The document discusses spatial descriptions and transformations including rotation matrices, inverse rotation matrices, describing frames of reference, and different types of angle descriptions like fixed angles, Euler angles, and rotation about an arbitrary axis. It provides notation and formulas for orthonormal matrices and Cayley's formula.

Uploaded by

sksiddique
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Spatial Descriptions and Transformations

Dr. Yasar Ayaz Head of Department (HoD) Department of Robotics and AI SMME, NUST.
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Links Joints

Description of Position

Locating an object in Position & Orientation

Rotation Matrix
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Inverse of a Rotation Matrix is equal to its Transpose

Inverse of a Rotation Matrix is equal to its Transpose

Description of a Frame

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Given

, what is

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Notation:

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Rotation matrices are special in that all columns are mutually orthogonal and have unit magnitude. Further, we see that the determinant of a rotation matrix is always equal to +1. Rotation matrices may also be called proper orthonormal matrices, where "proper" refers to the fact that the determinant is +1 (nonproper orthonormal matrices have the determinant 1).
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Cayley's formula for orthonormal matrices:

0 S = sz s y

sz 0 sx

sy sx 0
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X-Y-Z Fixed Angles

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Z-Y-X Euler Angles

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Rotation about arbitrary axis K by an angle :

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